Mobile terminal and control method thereof

ABSTRACT

Disclosed is a mobile terminal that provides an augmented reality navigation screen in a state of being hold in a vehicle, the mobile terminal including: at least one camera configured to obtain a front image; a display; and at least one processor configured to calibrate the front image, and to drive an augmented reality navigation application so that the augmented reality navigation screen including at least one augmented reality (AR) graphic object and the calibrated front image is displayed on the display.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a National Stage Application under 35 U.S.C. § 371of International Application No. PCT/KR2018/011341, filed on Sep. 21,2018, the contents of which are hereby incorporated by reference hereinin their entirety.

TECHNICAL FIELD

The present disclosure relates to a mobile terminal and a control methodthereof.

BACKGROUND ART

Recently, navigation using a mobile terminal is more invigorated than anavigation device embedded in a vehicle.

When not getting on a vehicle, a user carries the mobile terminal inhis/her bag or pocket, and if he/she gets on the vehicle, the mobileterminal is hold in the vehicle and used as a navigation device.

Meanwhile, in recent years, the development of augmented realitynavigation has been actively conducted. Furthermore, research forimplementing augmented reality navigation in mobile terminal has beenalso conducted.

However, in the mobile terminal, the location or posture of the mobileterminal is changed whenever it is hold in the vehicle. Accordingly,there is a problem in that the image photographed by a camera is notuniform.

DISCLOSURE Technical Problem

In order to solve the above problems, an object of the presentdisclosure is to provide a mobile terminal that displays an augmentedreality navigation screen including an AR graphic object and acalibrated front image.

Another object of the present disclosure is to provide a method ofoperating a mobile terminal displaying an augmented reality navigationscreen including an AR graphic object and a calibrated front image.

The problems of the present disclosure are not limited to the problemsmentioned above, and other problems that are not mentioned will beclearly understood by those skilled in the art from the followingdescription.

Technical Solution

In order to achieve the above object, according to an embodiment of thepresent disclosure, a mobile terminal that provides an augmented realitynavigation screen in a state of being hold in a vehicle, includes: atleast one camera configured to obtain a front image; a display; and atleast one processor configured to calibrate the front image, and todrive an augmented reality navigation application so that the augmentedreality navigation screen including at least one augmented reality (AR)graphic object and the calibrated front image is displayed on thedisplay.

According to an embodiment of the present disclosure, the processorcrops a first area in which at least a portion of the vehicle is locatedin the front image, and the at least a portion of the vehicle includesat least one of a bonnet, a roof, an A-pillar, a dashboard, and aholder.

According to an embodiment of the present disclosure, the at least onecamera includes: a first camera configured to obtain the front image;and a second camera configured to obtain a wide-angle image incomparison with the first camera, wherein the processor determines abalance of top, bottom, left and right of the front image, based on atleast one of a horizontal line passing through a vanishing pointdetectable in the front image and a vertical line passing through thevanishing point, and determines whether to use the wide-angle image,based on the balance.

According to an embodiment of the present disclosure, the at least onecamera includes: a first camera configured to obtain the front image;and a second camera configured to obtain a wide-angle image incomparison with the first camera, wherein the processor overlays a firstAR graphic object on a point of the front image corresponding to a firstobject detected from the front image, and determines whether to use thewide-angle image, based on a location of the first AR graphic object inthe front image.

According to an embodiment of the present disclosure, the processorpositions a left-right vanishing line detectable in the front image in acenter of vertical direction of the navigation screen.

According to an embodiment of the present disclosure, the mobileterminal further includes; a gyroscope sensor configured to generatefirst sensing data; and an acceleration sensor configured to generatesecond sensing data, wherein the mobile terminal determines a holdingtilt value, based on the first sensing data and the second sensing data,and compensates the holding tilt value on the navigation screen.

According to an embodiment of the present disclosure, when receiving atleast one of a home button input signal and other application executioninput signal, the processor deactivates the camera and drives theaugmented reality navigation application in a background.

According to an embodiment of the present disclosure, when obtainingvehicle stop state information, the processor deactivates the camera anddrives the augmented reality navigation application to display anavigation screen excluding the front image and the AR graphic object.

According to an embodiment of the present disclosure, when obtainingvehicle moving state information after a vehicle stop state, theprocessor activates the camera and calibrates a front image obtainedfrom the activated camera based on calibration data prior todeactivation of the camera.

Details of other embodiments are included in the detailed descriptionand drawings.

Advantageous Effects

According to the present disclosure, there are one or more of thefollowing effects.

First, when a mobile terminal is hold in a vehicle, there is an effectof providing an augmented reality navigation screen based on a frontimage that is calibrated without a separate setting.

Second, whenever a mobile terminal is hold in the vehicle, it is notnecessary to adjust the posture of the mobile terminal or to performmanual calibration.

Third, even when a user gets on various types of vehicles, there is aneffect of relieving the hassle of setting each time.

The effects of the present disclosure are not limited to the effectsmentioned above, and other effects not mentioned can be clearlyunderstood by those skilled in the art from the description of theclaims.

DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram of a mobile terminal according to anembodiment of the present disclosure.

FIG. 2 is a detailed block diagram of a processor according to anembodiment of the present disclosure.

FIG. 3 is a diagram referenced for explaining a navigation screenaccording to an embodiment of the present disclosure.

FIG. 4 is a diagram referenced for explaining an operation of generatinga navigation screen according to an embodiment of the presentdisclosure.

FIG. 5 is a flow chart according to an embodiment of the presentdisclosure.

FIGS. 6A and 6B are diagrams referenced for explaining a vanishing line,a bonnet line, and a center line according to an embodiment of thepresent disclosure.

FIGS. 7A to 7D are diagrams referenced for explaining a croppingoperation according to an embodiment of the present disclosure.

FIGS. 8A and 8B are diagrams referenced for explaining a croppingoperation according to an embodiment of the present disclosure.

FIGS. 9A to 11D are diagrams referenced for explaining an operation ofusing a wide-angle image according to an embodiment of the presentdisclosure.

FIGS. 12A and 12B are diagrams referenced for explaining an operation ofadjusting a vanishing line according to an embodiment of the presentdisclosure.

FIGS. 13A to 13C are diagrams referenced for explaining an operation ofcompensating a tilt value of mobile terminal setting according to anembodiment of the present disclosure.

FIGS. 14A to 14C are diagrams referenced for explaining an operation ofa mobile terminal in a specific situation according to an embodiment ofthe present disclosure.

FIG. 15 is a diagram referenced for explaining an operation of a mobileterminal in a walking mode according to an embodiment of the presentdisclosure.

MODE FOR INVENTION

Hereinafter, the embodiments disclosed in the present specification willbe described in detail with reference to the accompanying drawings, andthe same or similar elements are denoted by the same reference numeralseven though they are depicted in different drawings and redundantdescriptions thereof will be omitted. In the following description, withrespect to constituent elements used in the following description, thesuffixes “module” and “unit” are used or combined with each other onlyin consideration of ease in the preparation of the specification, and donot have or serve as different meanings. Accordingly, the suffixes“module” and “unit” may be interchanged with each other. In addition,the accompanying drawings are provided only for a better understandingof the embodiments disclosed in the present specification and are notintended to limit the technical ideas disclosed in the presentspecification. Therefore, it should be understood that the accompanyingdrawings include all modifications, equivalents and substitutionsincluded in the scope and sprit of the present disclosure.

Although the terms “first,” “second,” etc., may be used herein todescribe various components, these components should not be limited bythese terms. These terms are only used to distinguish one component fromanother component. When a component is referred to as being “connectedto” or “coupled to” another component, it may be directly connected toor coupled to another component or intervening components may bepresent. In contrast, when a component is referred to as being “directlyconnected to” or “directly coupled to” another component, there are nointervening components present.

As used herein, the singular form is intended to include the pluralforms as well, unless the context clearly indicates otherwise.

In the present application, it will be further understood that the terms“comprises”, includes,” etc. specify the presence of stated features,integers, steps, operations, elements, components, or combinationsthereof, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components, orcombinations thereof.

In the following description, the left side means the left side in theforward driving direction of a vehicle, and the right side means theright side in the forward driving direction of a vehicle.

FIG. 1 is a block diagram of a mobile terminal according to anembodiment of the present disclosure.

Referring to FIG. 1 , a mobile terminal 100 may include a portablephone, a smart phone, a laptop computer, a digital broadcastingterminal, a personal digital assistants (PDA), a portable multimediaplayer (PMP), a navigation system, a slate PC, a tablet PC, anultrabook, wearable device (e.g., a smartwatch, a smart glass, a headmounted display (HMD)), and the like.

The mobile terminal 100 may provide an augmented reality navigationscreen while being hold in a vehicle. The mobile terminal 100 may behold inside the vehicle such that a display 151 faces the cabin of thevehicle and at least one camera 121 faces the front of the vehicle.

The mobile terminal 100 may include a wireless communication unit 110,at least one camera 121, a gyroscope sensor 143, an acceleration sensor144, a display 151, a memory 170, at least one processor 180, and apower supply unit 190.

The mobile terminal 100 may further include a wireless communicationunit including a broadcast reception module, a mobile communicationmodule, a wireless Internet module, a short-range communication module,and a location information module. The mobile terminal 100 may furtherinclude an input unit including a microphone and a user input unit.According to an embodiment, the camera 121 may be classified as asub-element of the input unit. The mobile terminal 100 may furtherinclude a sensing unit including a proximity sensor and an illuminancesensor. The mobile terminal 100 may include an output unit including anaudio output unit, a haptic module, and an optical output unit.According to an embodiment, the display 151 may be classified as asub-element of the output unit. The mobile terminal 100 may furtherinclude an interface unit for exchanging power or data with otherdevice.

The wireless communication unit 110 may include one or more modules thatenable a wireless communication between the mobile terminal 100 and awireless communication system, between the mobile terminal 100 and othermobile terminal 100, or between the mobile terminal 100 and an externalserver. The wireless communication unit 110 may include one or moremodules that connect the mobile terminal 100 to one or more networks.

The wireless communication unit 110 transmits and receives a wirelesssignal with at least one of a base station, an external terminal, and aserver on a mobile communication network built according to technicalstandards or communication methods for mobile communication (e.g. GlobalSystem for Mobile communication (GSM), Code Division Multi Access(CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-DataOptimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA),High Speed Downlink Packet Access (HSDPA), High Speed Uplink PacketAccess (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced(LTE-A, 5G), and the like).

The camera 121 may process an image frame such as a still image or amoving image obtained by an image sensor. The processed image frame maybe displayed on the display unit 151 or stored in the memory 170. Thecamera 121 includes at least one of a camera sensor (e.g. CCD, CMOS,etc.), a photo sensor (or image sensor), and a laser sensor.

The camera 121 may obtain a front image of the vehicle. The obtainedfront image of the vehicle may be stored in the memory 170 ortransmitted to the processor 180. The camera 121 may be activated ordeactivated based on a control signal generated by the processor 180.

The camera 121 may include a first camera and a second camera.

The first camera may obtain a front image of the vehicle. The firstcamera may obtain a narrow angle image in comparison with the secondcamera. The first camera may be disposed around the second camera. Thefirst camera may be activated or deactivated based on a control signalgenerated by the processor 180.

The second camera may obtain a front image of the vehicle. In adeactivated state, the second camera may be activated according to arequest signal from the processor 180 to obtain a front image. Thesecond camera may obtain a wide-angle image in comparison with the firstcamera. The second camera may be activated or deactivated based on acontrol signal generated by the processor 180.

The gyroscope sensor 143 may allow the mobile terminal 100 to measurethe angular velocity of the mobile terminal 100. The gyroscope sensor143 may generate first sensing data based on the measured angularvelocity.

The acceleration sensor 144 may measure the acceleration of the mobileterminal 100. The acceleration sensor 144 may generate second sensingdata based on the measured acceleration.

The display 151 displays (outputs) information processed by the mobileterminal 100. For example, the display unit 151 may display executionscreen information of an application program driven in the mobileterminal 100, or User Interface (UI) and Graphic User Interface (GUI)information according to the execution screen information.

The display unit 151 may include at least one of a liquid crystaldisplay (LCD), a thin film transistor-liquid crystal display (TFT LCD),an organic light-emitting diode (OLED), a flexible display, a 3Ddisplay, and an e-ink display.

In addition, two or more display units 151 may exist according to theimplementation form of the mobile terminal 100. In this case, in themobile terminal 100, a plurality of display units may be spaced apartfrom or integrally disposed on one surface, or may be disposed ondifferent surfaces respectively.

The display unit 151 may include a touch sensor that senses a touch onthe display unit 151 so as to receive a control command by a touchmethod. Using this, when a touch is accomplished for the display unit151, the touch sensor detects the touch, and based on this, theprocessor 180 may be configured to generate a control commandcorresponding to the touch. The content input by the touch method may beletters or numbers, or menu items that can be indicated or designated invarious modes. As described, the display unit 151 may form a touchscreen together with a touch sensor, and in this case, the touch screenmay serve as a user input unit.

The memory 170 stores data supporting various functions of the mobileterminal 100. The memory 170 may store a number of application programsor applications driven by the mobile terminal 100, data for operation ofthe mobile terminal 100, and commands. At least some of theseapplication programs may be downloaded from an external server throughwireless communication. In addition, at least some of these applicationprograms may exist in the mobile terminal 100 from the time of deliveryfor the basic function (e.g. call receipt, outgoing functions, messagereception and outgoing functions) of the mobile terminal 100. Meanwhile,the application program may be stored in the memory 170, installed inthe mobile terminal 100, and driven by the processor 180 to perform anoperation (or function) of the mobile terminal.

The memory 170 may store a program for the operation of the processor180, and may temporarily store input/output data (e.g. a phone book, amessage, a still image, a moving image, etc.). The memory 170 may storedata on vibration and sound of various patterns that are output when atouch input on the touch screen is accomplished.

The memory 170 may include at least one type of storage medium among aflash memory type, a hard disk type, a solid state disk (SSD) type, asilicon disk drive (SDD) type, a multimedia card micro type, a card-typememory (e.g., SD or XD memory, etc), a random access memory (RAM), astatic random access memory (SRAM), a read-only memory (ROM), anelectrically erasable programmable read-only memory (EEPROM), aprogrammable read-only memory (PROM), a magnetic memory, a magneticdisk, and an optical disk. The mobile terminal 100 may be operated inconnection with a web storage that performs a storage function of thememory 170 over the Internet.

The processor 180 may be electrically connected to the camera 121, thegyroscope sensor 143, the acceleration sensor 144, the display 151, thememory 170, and the power supply unit 190 to exchange signals. Theprocessor 180 may be implemented by using at least one of applicationspecific integrated circuits (ASICs), digital signal processors (DSPs),digital signal processing devices (DSPDs), programmable logic devices(PLDs), field programmable gate arrays (FPGAs), processors, andcontrollers, micro-controllers, microprocessors, and electrical unitsfor performing other functions. The processor 180 may be driven by powerprovided from the power supply unit 190.

The processor 180 controls the overall operation of the mobile terminal100. The processor 180 may provide or process appropriate information orfunctions to a user by processing the above input or output signals,data, information, etc., or by driving an application program stored inthe memory 170.

The processor 180 may receive a front image of the vehicle.

The processor 180 may calibrate the front image.

The processor 180 may perform calibration by cropping the front image.In the front image, areas that are unnecessary for the configuration ofthe navigation screen may exist. The processor 180 may remove theseunnecessary areas. The processor 180 may crop a first area where atleast a portion of the vehicle is located in the front image. Here, atleast a portion of the vehicle may include at least one of a bonnet, aroof, an A-pillar, a dashboard, and a holder. The processor 180 may cropthe first area based on image processing using a histogram.

The processor 180 may output navigation related information to thecropped area. For example, the processor 180 may display at least one oftime information, location information, information of road beingdriven, departure point information, departure time information,destination information, information of distance remaining todestination, information of time remaining to the destination, andestimated arrival time information, on the cropped area.

The processor 180 may perform calibration by using a wide-angle image.The processor 180 may determine the balance of top, bottom, left andright of the front image, based on at least one of a horizontal linepassing through a vanishing point detectable in the front image acquiredby the first camera and a vertical line passing through the vanishingpoint. The processor 180 may determine whether to use the wide-angleimage obtained by the second camera, based on the balance of top,bottom, left and right of the front image. The processor 180 may overlaya first AR graphic object on a point of the front image corresponding tothe first object detected in the front image obtained by the firstcamera. The processor 180 may determine whether to use the wide-angleimage, based on the location of the first AR graphic object in the frontimage.

The processor 180 may perform calibration by adjusting the location of avanishing line detectable in the front image. The processor 180 mayposition a left-right direction vanishing line detectable in the frontimage at the center of the navigation screen in the vertical direction.

The processor 180 may perform calibration by compensating a holding tiltvalue of the mobile terminal 100. The processor 180 may determine theholding tilt value, based on the first sensing data received from thegyroscope sensor 143 and the second sensing data received from theacceleration sensor 144. The processor 180 may compensate the tilt valueon the navigation screen. The processor 180 may compensate the firstsensing data and the second sensing data using a Kalman filter.According to an embodiment, the processor 180 may determine a holdingtilt value, further based on data received from the geomagnetic sensorand the temperature sensor. According to an embodiment, the processor180 may determine and compensate a holding tilt value, based on thirdsensing data received from a gravity sensor.

The processor 180 may drive an augmented reality navigation applicationso that the augmented reality navigation screen is displayed on thedisplay 151. The augmented reality navigation screen may include atleast one augmented reality AR graphic object and a calibrated frontimage.

The processor 180 may receive at least one of a home button input signaland other application execution input signal, through a user input unit.In this case, the processor 180 may deactivate the camera 121 so thatacquisition of the front image is stopped. The processor 180 may drivean augmented reality navigation application in the background. Throughsuch control, it is possible to prevent the waste of battery andprocessing power generated while unnecessarily obtaining and processinga front image.

The processor 180 may obtain vehicle stop state information byprocessing the front image or receiving a signal from the vehicle. Theprocessor 180 may deactivate the camera 121 when obtaining the vehiclestop state information. In this case, the processor 180 may drive theaugmented reality navigation application to display the navigationscreen excluding the front image and the AR graphic object. Theprocessor 180 may obtain information on vehicle moving state after thevehicle is stopped, by processing a front image or receiving a signalfrom the vehicle. The processor 180 may activate the camera 121, whenobtaining the information on vehicle moving state after the vehicle isstopped. The processor 180 may calibrate the front image obtained fromthe activated camera, based on the calibration data before the camera121 is deactivated.

The processor 180 may receive at least one of a signal, information, anddata from a server, through the wireless communication unit 110. Theprocessor 180 may receive augmented reality navigation application datafrom a server.

The processor 180 may receive directions information from a server, anddrive a navigation application based on the directions information. Thedirections information may include map data and an AR graphic object.

The processor 180 may receive map data from a server. The map data mayinclude at least one of standard definition (SD) map data and highdefinition (HD) map data. The processor 180 may download the entire mapdata at a specific time and store it in the memory 170 for use. Theprocessor 180 may download only some of the entire map data at a presetcycle, store it in the memory 170 and use it temporarily. Map data thatcompleted usage may be deleted. The processor 180 may receive AR graphicobject (e.g. AR indicator) data from a server.

The processor 180 may download only some data of the entire map databased on a set route, store it in the memory 170 and use it temporarily.The processor 180 may receive map data corresponding to a routegenerated by a destination input by a user, and store the received mapdata in the memory 170. The processor 170 may receive an AR graphicobject corresponding to a route along with map data, and store thereceived AR graphic object in the memory 170. The processor 170 maydelete the map data and the AR graphic object stored in the memory 170after using them.

When the directions information is updated while driving the navigationbased on the directions information received from the server, theprocessor 180 may receive the updated directions information and drivethe navigation application. The processor 180 may change a preset routeaccording to the updated directions information.

The processor 180 may receive directions information corresponding to anexpected driving route in real time. The processor 180 may adjust theamount of reception of directions information corresponding to a sectionincluding the expected driving route according to the communicationstrength. For example, when the communication strength is greater thanor equal to a first reference value, the processor 180 may receivedirections information corresponding to a relatively long section.

According to an embodiment, a plurality of surfaces (a navigation mapsurface, an AR camera surface, an AR GUI surface, and a navigation GUIsurface) described later may be generated in a server. The processor 180may receive a plurality of surfaces from a server to configure anavigation screen. The processor 180 may adjust the number of receivedsurfaces according to the communication strength. For example, when thecommunication strength is weak, the processor 180 may receive only thenavigation GUI surface and then additionally receive the AR GUI surfacewhen the communication strength is gradually increased.

The processor 180 may receive AR graphic information processed by theserver and output an AR indicator based on the received AR graphicinformation. When there is a point of interest (POI) preset by theaugmented reality navigation application, the processor 180 mayadditionally display an AR indicator, during AR directions. Theprocessor 180 may receive POI information from the server in real time.When receiving the POI information, the processor 180 may also receivean AR indicator corresponding to the POI.

The power supply unit 190 receives external power and internal powerunder the control of the processor 180 and supplies power necessary forthe operation of each of components. The power supply unit 190 includesa battery, and the battery may be a built-in battery configured to berechargeable, and may be detachably coupled to a terminal body forcharging. The power supply unit 190 may include a connection port, andthe connection port may be configured as an example of an interface 160to which an external charger supplying power for charging a battery iselectrically connected.

As another example, the power supply unit 190 may be configured tocharge the battery in a wireless manner without using the connectionport. In this case, the power supply unit 190 may receive power from anexternal wireless power transmitter by using at least one of aninductive coupling method based on a magnetic induction phenomenon or amagnetic resonance coupling method based on an electromagnetic resonancephenomenon.

Meanwhile, the mobile terminal 100 may include a computer-readablemedium that executes a plurality of steps, when driven by the processor180. The plurality of steps may include a step of receiving a frontimage, a step of calibrating the front image, and a step of driving anaugmented reality navigation application so that an augmented realitynavigation screen including at least one AR graphic object and thecalibrated front image is displayed on the display. The plurality ofsteps will be described in more detail with reference to FIG. 5 .

FIG. 2 is a detailed block diagram of a processor according to anembodiment of the present disclosure.

FIG. 3 is a diagram referenced for explaining a navigation screenaccording to an embodiment of the present disclosure.

FIG. 4 is a diagram referenced for explaining an operation of generatinga navigation screen according to an embodiment of the presentdisclosure.

Referring to the drawing, the processor 180 may include a navigationengine 210, an augmented reality AR engine 220, and a navigationapplication 230.

The navigation engine 210 may receive map data and GPS data. Thenavigation engine 210 may perform map matching based on the map data andthe GPS data. The navigation engine 210 may perform route planning. Thenavigation engine 210 may display a map and perform route guidance. Thenavigation engine 210 may provide route guidance information to thenavigation application 230. Meanwhile, the navigation engine 210 mayinclude a navigation controller 211. The navigation controller 211 mayreceive map matching data, map display data, and route guidance data.The navigation controller 211 may provide route data, point of interest(POI) data, and the like to the AR engine 220. The navigation controller211 may provide route guidance data and a map display frame to thenavigation application 230.

The AR engine 220 may include an adapter 221 and a renderer 222. Theadapter 221 may receive front image data from the camera 121, firstsensing data from a gyroscope sensor 143, and second sensing data froman acceleration sensor 144. According to an embodiment, the adapter mayreceive sensing data from at least one of a geomagnetic sensor, atemperature sensor, and a gravity sensor.

Based on data provided from a calibration factor DB, calibration for thefront image may be performed. The AR engine 220 may perform objectdetection, based on the front image data and route data. The AR engine220 may perform prediction and interpolation.

The renderer 222 may perform rendering based on root data, POI data, andprediction and interpolation result data. The renderer 222 may providean AR graphical user interface (GUI) frame and an AR camera frame to thenavigation application 230.

The navigation application 230 may generate an augmented realitynavigation screen. As illustrated in FIG. 3 , the augmented realitynavigation screen may include a navigation map surface 310, an AR camerasurface 320, an AR GUI surface 330, and a navigation GUI surface 340.The navigation application 230 may generate the navigation map surface310, based on the map display frame provided from the navigationcontroller 211. The navigation application 230 may generate the ARcamera surface 320, based on the AR camera frame provided from therenderer 222. The navigation application 230 may generate the AR GUIsurface 330, based on the AR GUI frame provided from the renderer 222.The navigation application 230 may generate the navigation GUI surface340, based on the route guidance data provided from the navigationcontroller 211.

Referring to FIG. 4 , when the navigation application 230 is started(S410), the navigation application 230 may generate the navigation mapsurface 310, the AR camera surface 320, the AR GUI surface 330, and thenavigation GUI surface 340 (S420). The navigation application 230 mayprovide the parameter of the AR camera surface 320 and the parameter ofthe AR GUI surface 330 to the AR engine 220 (S430). The AR engine 220may register a callback function in the camera server 171 so as toreceive front image data (S440). The camera server 171 may be consideredto be included in the memory 170. The AR engine 220 may receive and cropthe front image data (S450). The navigation application 230 may displaythe cropped front image on the AR camera surface 320 (S460). The ARengine 230 may perform AR (S470). The navigation application 230 maydisplay the AR GUI on the AR GUI surface 330, based on the cropped frontimage (S480).

FIG. 5 is a flow chart according to an embodiment of the presentdisclosure.

A method of operating a mobile terminal (S500) will be described withreference to FIGS. 4 and 5 . The mobile terminal 100 may provide anaugmented reality navigation screen while being hold in a vehicle.

The processor 180 may receive a vehicle front image (S510). The camera121 may photograph the vehicle front image. The processor 180 mayreceive the vehicle front image photographed by the camera 121. StepS510 may include step S511, step S512, and step S513.

The processor 180 may generate the AR GUI surface 330 and the AR camerasurface 320 (S511). The processor 180 may obtain a camera 121 controland receive the vehicle front image (S512). The processor 180 maydisplay the vehicle front image from the camera 121 on the AR GUIsurface 330 and the AR camera surface 320 (S513).

The processor 180 may calibrate the vehicle front image (S520). StepS520 may include step S521, step S522, step S523, step S524, step S525,and step S526.

When calibration starts (S521), the processor 180 may detect and extracta vanishing line, a bonnet line, and a center line from the vehiclefront image (S522 and S523). Data on the vanishing line, bonnet line,and center line extracted in step S523 may be stored in the calibrationfactor DB 172. The calibration factor DB 172 may be included in thememory 170. The processor 180 may calculate the height and tilt of thecamera 121 (S524). For example, the processor 180 may calculate theheight and tilt of the camera 121, based on the sensing data (e.g. firstsensing data and second sensing data) (S524). The processor 180 mayperform calibration for the vehicle front image, based on the dataobtained in steps S523 and S524 (S525). The processor 180 may terminatethe calibration (S526).

The step of performing the calibration (S525) may include a step ofcropping, by the processor 180, a first area in which at least a portionof the vehicle is located from the front image. At least a portion ofthe vehicle may include at least one of a bonnet, a roof, an A-pillar, adashboard, and a holder.

The step of performing the calibration (S525) may include a step ofdetermining, by the processor 180, a balance of top, bottom, left andright of the front image, based on at least one of a horizontal linepassing through a vanishing point detectable in the front image and avertical line passing through the vanishing point, and a step ofdetermining, by the processor, whether to use the wide-angle image,based on the balance.

Meanwhile, the method of operating a mobile terminal (S500) may includea step of overlaying the first AR graphic object on a point of the frontimage corresponding to the first object detected from the vehicle frontimage. The step of overlaying may be a sub-element of step S544.

The step of performing the calibration (S525) may include a step ofdetermining, by the processor 180, whether to use the wide-angle image,based on the location of the first AR graphic object in the front image.The step of performing the calibration (S525) may include a step ofpositioning, by the processor 180, a left-right vanishing linedetectable from the front image in the center of the vertical directionof the navigation screen.

The method of operating a mobile terminal (S500) may further include astep of generating first sensing data by the gyroscope sensor 143 and astep of generating second sensing data by the acceleration sensor 144.The step of performing the calibration (S525) may further include a stepof determines a holding tilt by the processor, based on the firstsensing data and the second sensing data, and a step of compensating theholding tilt with respect to the navigation screen by the processor.

The processor 180 may drive the augmented reality navigation applicationso that the augmented reality navigation screen 300 including at leastone AR graphic object and the calibrated front image is displayed on thedisplay 151 (S530). Step S530 may include steps S531 to S549.

Embodiment of Successful Calibration

The processor 180 may display the calibration result (S531). When it isdetermined that the calibration is successful (S532), the processor 180may start the navigation mode after starting the AR mode (S533, S534).The processor 180 may search a route (S535). The processor 180 mayreceive and parse the route information (S536).

Meanwhile, the processor 180 may start sensor control (S540). Theprocessor 180 may register various sensor data reception callbacks(S541). The processor 180 may receive and parse IMU sensor data. The IMUsensor includes the gyroscope sensor 143 and the acceleration sensor144, and the processor 180 may receive the first sensing data and thesecond sensing data as IMU sensor data. The processor 180 may predictand interpolate the traveling of the vehicle, based on the parsingresult of step S546 and the parsing result of step S542 (S543). Theprocessor 180 may display a maneuver on the AR GUI surface 330 (S544).The processor 180 may display an AR graphic object on the AR GUI surface330. The processor 180 may overlay the first AR graphic object on apoint of the front image corresponding to the first object detected inthe front image through step S546. Thereafter, the processor 180 mayguide a route (S537). The processor 180 may guide the route, based onthe route searched in step S535 and the maneuver in step S544. Theprocessor 180 may determine AR guidance and determine whether it is anAR guidance timing (S538, S539). When it is determined that it is the ARguidance timing, the processor 180 may perform step S544. When it isdetermined that it is not the AR guidance timing, the processor 180 mayperform step S537.

The processor 180 may receive and parse the camera 121 sensor data(S546). The processor 180 may detect an object (e.g. a lane, othervehicle, a two-wheeled vehicle, a pedestrian, etc.) based on the imageobtained by the camera 121. The processor 180 may recognize a lane,based on information on the detected object (S547). The processor 180may cut the camera image (S548). The processor 180 may cut the frontimage, based on data stored in the calibration factor DB 172. Theprocessor 180 may display a 3D carpet on the AR camera surface 320,based on the lane recognition data of S547 and the image data of S548(S549).

Embodiment of Failed Calibration

The processor 180 may display the calibration result (S531). When it isdetermined that the calibration is failed (S532), the processor 180 maystart the navigation mode without starting the AR mode (S534). Theprocessor 180 may search a route (S535). The processor 180 may performroute guidance according to the searched route (S537).

FIGS. 6A and 6B are diagrams referenced for explaining a vanishing line,a bonnet line, and a center line according to an embodiment of thepresent disclosure.

Referring to the drawings, the processor 180 may detect a vanishing line610, a bonnet line 620, and a center line 630 from a vehicle front imagephotographed by the camera 121. It may be defined as a horizontal linepassing through the vanishing point 601 detected in the vehicle frontimage. The bonnet line 620 may be defined as a horizontal line passingthrough an uppermost end of the bonnet detected in the vehicle frontimage. The center line 630 may be defined as a vertical line passingthrough the vanishing point 601.

According to an embodiment, the processor 180 may perform calibrationbased on the vanishing line 610, the bonnet line 620, and the centerline 630 in response to a user input. As illustrated in FIG. 6A, whenthe vanishing line 610, the bonnet line 620, and the center line 630 areset according to a user input, the processor 180 may calibrate the frontimage to be adjusted to the location set in each of the vanishing line610, the bonnet line 620, and the center line 630.

FIGS. 7A to 7D are diagrams referenced for explaining a croppingoperation according to an embodiment of the present disclosure.

As illustrated in FIG. 7A, the processor 180 may detect a vanishing line710, a bonnet line 720, and a center line 730 from a vehicle front imagephotographed by the camera 121. As illustrated in FIG. 7B, the processor180 may delete the area under the bonnet line 710 from the vehicle frontimage. The processor 180 may output navigation related information 740,on the area under the deleted bonnet line 710. For example, theprocessor 180 may display at least one of time information, locationinformation, information of the road being driven, departure pointinformation, departure time information, destination information,information of distance remaining to destination, information of timeremaining to the destination, and estimated arrival time information, onthe area under the bonnet line 710. The processor 180 may display anavigation map 750 and a navigation GUI 755, on one area of the display151.

As illustrated in FIG. 7C, the processor 180 may delete an unnecessaryarea from the vehicle front image. The processor 180 may delete anobject area that does not affect the driving of the vehicle. Forexample, the processor 180 may delete an area corresponding to a fixedobject located in the sidewalk, from the vehicle front image. Thus, bydeleting the object area that does not affect the driving of thevehicle, it is possible to prevent distraction during driving. Asillustrated in FIG. 7D, the processor 180 may display the AR navigationscreen 300.

FIGS. 8A and 8B are diagrams referenced for explaining a croppingoperation according to an embodiment of the present disclosure.

As illustrated in FIG. 8A, the processor 180 may detect a holder line810. The holder line 810 may be defined as a line formed in a verticaldirection or a horizontal direction from a portion of the holder of themobile terminal that protrudes most toward the center of the screen. Asillustrated in FIG. 8B, the processor 180 may delete an area in whichthe holder is displayed around the holder line 810 in order to delete aholder 820.

FIGS. 9A to 11D are diagrams referenced for explaining an operation ofusing a wide-angle image according to an embodiment of the presentdisclosure.

Referring to the drawings, the camera 121 may include a first camera anda second camera. The first camera may obtain a front image of thevehicle. The second camera may obtain a wide-angle image in comparisonwith the first camera. In a deactivated state, the second camera may beactivated when the processor 180 determines to use the wide-angle image.

The processor 180 may determine the balance of the top, bottom, left andright, based on the vanishing line 910 and the center line 920 in thefront image. The processor 180 may determine whether to use thewide-angle image, based on the balance of the top, bottom, left andright. For example, when it is determined that the center line 920 isleaned toward the left of the front image, the processor 180 mayactivate the second camera. The processor 180 may supplement the frontimage of the first camera by taking an image outside the left side ofthe obtained image of the first camera from the image obtained by theactivated second camera.

Meanwhile, when the vehicle 10 gradually approaches the intersection,the processor 180 may gradually enlarge and display the front imagewhile gradually changing the angle of view of the first camera.

Meanwhile, the processor 180 may determine whether to use the wide-angleimage, based on shape data of a road. For example, the processor 180 maydetermine whether to use a wide-angle image, based on curve data of aroad formed to the left or right side.

Reference numeral 1010 of FIG. 10A illustrates a front image obtained bythe first camera. Reference numeral 1020 illustrates a front imageobtained by the second camera. The processor 180 may overlay the firstAR graphic object on a point of the front image corresponding to thefirst object detected in the front image. The processor 180 maydetermine whether to use the wide-angle image, based on the location ofthe first AR graphic object in the front image. As illustrated in FIG.10B, when the route is formed to the right so that the AR graphic object1030 is located in the right side of the front image, the processor 180may supplement the front image of the first camera by obtaining a rightarea that deviates from the front image of the first camera among thewide-angle images of the second camera. In this case, as illustrated inFIG. 10C, when using a wide-angle image, the processor 180 may combineand display a portion of the front image of the first camera and thewide-angle image of the second camera, by reducing a scale in comparisonwith a scale before using the wide-angle image. Alternatively, theprocessor 180 may process and display only the wide-angle image of thesecond camera. In this case, the processor 180 may maintain the size ofthe front area display area. As illustrated in FIG. 10D, when using awide-angle image, the processor 180 may combine and display a portion ofthe front image of the first camera and the wide-angle image of thesecond camera, by making a scale to be equal to a scale before using thewide-angle image. Alternatively, the processor 180 may process anddisplay only the wide-angle image of the second camera. In this case,the processor 180 may increase the size of the display area of the frontarea. The processor 180 may reduce the navigation map display area.

Reference numeral 1110 of FIG. 11A illustrates a front image obtained bythe first camera. Reference numeral 1120 illustrates a front imageobtained by the second camera. The processor 180 may overlay the firstAR graphic object on a point of the front image corresponding to thefirst object detected in the front image. The processor 180 maydetermine whether to use the wide-angle image, based on the location ofthe first AR graphic object in the front image. As illustrated in FIG.11B, when the route is formed to the left so that the AR graphic object1130 is located in the left side of the front image, the processor 180may supplement the front image of the first camera by obtaining a leftarea that deviates from the front image of the first camera among thewide-angle images of the second camera. In this case, as illustrated inFIG. 11C, when using a wide-angle image, the processor 180 may combineand display a portion of the front image of the first camera and thewide-angle image of the second camera, by reducing a scale in comparisonwith a scale before using the wide-angle image. Alternatively, theprocessor 180 may process and display only the wide-angle image of thesecond camera. In this case, the processor 180 may maintain the size ofthe front area display area. As illustrated in FIG. 11D, when using awide-angle image, the processor 180 may combine and display a portion ofthe front image of the first camera and the wide-angle image of thesecond camera, by making a scale to be equal to a scale before using thewide-angle image. Alternatively, the processor 180 may process anddisplay only the wide-angle image of the second camera. In this case,the processor 180 may increase the size of the display area of the frontarea. The processor 180 may reduce the navigation map display area.

FIGS. 12A and 12B are diagrams referenced for explaining an operation ofadjusting a vanishing line according to an embodiment of the presentdisclosure.

Referring to the drawings, the processor 180 may detect a vanishing line1210 from a front image. As illustrated in FIG. 12A, the processor 180may determine whether the vanishing line 1210 is positioned below thecenter 1220 in the vertical direction of the navigation screen. In thiscase, the processor 180 may adjust an area displayed on the navigationscreen of the front image so that the vanishing line 1210 is positionedin the center 1220. As illustrated in FIG. 12B, the processor 180 mayposition the vanishing line 1210 in the center 1220 of the navigationscreen in the vertical direction.

The processor 180 may determine whether the vanishing line is positionedabove the center of the navigation screen in the vertical direction. Inthis case, the processor 180 may position the vanishing line in thecenter of the navigation screen in the vertical direction.

FIGS. 13A to 13C are diagrams referenced for explaining an operation ofcompensating a tilt value when a vehicle according to an embodiment ofthe present disclosure travels on a slope.

As illustrated in FIGS. 13A and 13B, when the vehicle travels on a flatground, the processor 180 may configure a lookup table 1310 bycalculating a tilt value of the mobile terminal and calculating avanishing line. The lookup table 1310 may be stored in the memory 170.For example, when the tilt of the mobile terminal 100 is 90 degrees, 85degrees, 80 degrees, and 75 degrees, each vanishing line may becalculated to configure the lookup table 1310.

As illustrated in FIGS. 13C and 13D, when the vehicle travels on aslope, the processor 180 may compensate the installation tilt value ofthe mobile terminal 100, based on the lookup table 1310. For example,the processor 180 may determine that the installation tilt value of themobile terminal 100 is 75 degrees, based on at least one of the firstsensing data and the second sensing data. The processor 180 may checkthat the value of the vanishing line is 540. The processor 180 maydetermine that the tilt value of the mobile terminal corresponding tothe vanishing line value is 90 degrees based on the lookup table 1310.The processor 180 may compensate the installation tilt of the mobileterminal 100 as 90 degrees when the vehicle travels on a slope.

FIGS. 14A to 14C are diagrams referenced for explaining an operation ofa mobile terminal in a specific situation according to an embodiment ofthe present disclosure.

FIG. 14A illustrates a case where an AR navigation application is drivenin a foreground. Foreground driving of the AR navigation application canbe identically explained with a description described with reference toFIGS. 1 to 13C.

FIG. 14B illustrates a case in which an AR navigation application isdriven in the foreground in a state where the camera is deactivated. Theoperating method of the mobile terminal 100 may further include a stepof obtaining vehicle stop state information by the processor 180, a stepof deactivating the camera 121 by the processor 180, and a step ofdriving the augmented reality navigation application to display anavigation screen excluding the front image and the AR graphic object bythe processor 180.

When obtaining the vehicle stop state information, the processor 180 maydeactivate the camera, and drive the augmented reality navigationapplication to display a navigation screen excluding the front image andthe AR graphic object. In the AR navigation screen, the processor 180may configure the AR navigation screen by including only the navigationGUI surface and the navigation map surface while excluding the AR GUIsurface and the AR camera surface.

Meanwhile, the operating method of the mobile terminal 100 may furtherinclude a step of obtaining vehicle moving state information after thevehicle stop state by the processor 180, a step of activating the cameraby the processor 180, and a step of calibrating the front image obtainedfrom the activated camera 121, based on the calibration data prior todeactivation of the camera 121, by the processor 180.

When obtaining the vehicle moving state information after the vehiclestop state, the processor 180 activates the camera 121, and maycalibrate the front image obtained from the activated camera 121, basedon the calibration data prior to deactivation of the camera 121. Theprocessor 180 may calibrate the front image obtained from the activatedcamera 121 by calling calibration data from the calibration factor DB172.

FIG. 14C illustrates a case where the AR navigation application isdriven in a background. The operating method of the mobile terminal 100may include a step of receiving at least one of a home button inputsignal and other application execution input signal by the processor180, a step of deactivating the camera 121 by the processor 180, and astep of driving the augmented reality navigation application in thebackground by the processor 180.

When receiving at least one of a home button input signal and otherapplication execution input signal, the processor 180 may deactivate thecamera 121, and drive the augmented reality navigation application inthe background.

FIG. 15 is a diagram referenced for explaining an operation of a mobileterminal in a walking mode according to an embodiment of the presentdisclosure.

Referring to FIG. 15 , the mobile terminal 100 may be used in a vehiclemode and a walking mode. When the mobile terminal 100 is used in thevehicle mode, the mobile terminal 100 operates as described withreference to FIGS. 1 to 14 .

When the mobile terminal 100 is used in a walking mode, the processor180 may provide an AR navigation screen for walking. The processor 180may perform calibration so that an area of an object that does notinterfere with walking is excluded from a pedestrian front image. Theprocessor 180 may enlarge and display an area for guiding a pedestrianin the pedestrian front image, and delete the remaining area.

The present disclosure described above can be implemented as acomputer-readable code on a medium on which a program is recorded. Thecomputer-readable medium includes all types of recording devices thatstore data that can be read by a computer system. Examples ofcomputer-readable media include hard disk drives (HDDs), solid statedisks (SSDs), silicon disk drives (SDDs), ROMs, RAM, CD-ROMs, magnetictapes, floppy disks, optical data storage devices, etc. There are alsocarrier waves (for example, transmission over the Internet). Inaddition, the computer may include a processor or a processor.Therefore, the detailed description above should not be construed asrestrictive in all respects and should be considered as illustrative.The scope of the present disclosure should be determined by rationalinterpretation of the appended claims, and all changes within theequivalent scope of the present disclosure are included in the scope ofthe present disclosure.

Although embodiments have been described with reference to a number ofillustrative embodiments thereof, it should be understood that numerousother modifications and embodiments can be devised by those skilled inthe art that will fall within the scope of the principles of thisdisclosure. More particularly, various variations and modifications arepossible in the component parts and/or arrangements of the subjectcombination arrangement within the scope of the disclosure, the drawingsand the appended claims. In addition to variations and modifications inthe component parts and/or arrangements, alternative uses will also beapparent to those skilled in the art.

The invention claimed is:
 1. A method of generating an augmented realityimage, the method comprising: receiving, by at least one processor, afront image obtained by at least one camera; detecting a calibrationfactor data from the front image; storing the calibration factor data ina calibration factor database (DB); calibrating the front image based onthe calibration factor data, by the at least one processor; andconfiguring an augmented reality navigation screen including at leastone augmented reality (AR) graphic object and the calibrated front imageby the at least one processor; wherein the augmented reality navigationscreen includes an AR camera surface and an AR GUI surface, whereincalibrating the front image comprises: determining an unnecessary areaof the front image based on the calibration factor data, and cropping,from the front image, the unnecessary area in which a portion of avehicle is located, by the at least one processor; and determining abalance of the front image based on the calibration factor data, andcalibrating the front image based on the balance of the front image, bythe at least one processor.
 2. The method of claim 1, wherein thecalibration data comprises a first factor including the portion of thevehicle, and a second factor including an object that does not affectthe driving of the vehicle, and wherein the portion of the vehicleincludes at least one of a bonnet, a roof, an A-pillar, a dashboard, ora holder.
 3. The method of claim 1, further comprising: detecting anobject, by the at least one processor, based on the front image obtainedby at least one camera, cropping the front image, by the at least oneprocessor, based on data stored in the calibration factor DB, whereinthe calibration factor DB stores data on vanishing line, bonnet line andcenter line, recognizing a lane, by the at least one processor, based oninformation on the detected object, and displaying a 3D carpet on the ARcamera surface, by the at least one processor, based on the lanerecognition data and the cropped image.
 4. The method of claim 3,wherein calibrating the front image comprises: determining, by the atleast one processor, a balance of top, bottom, left and right of thefront image, based on at least one of a horizontal line passing througha vanishing point detectable in the front image or a vertical linepassing through the vanishing point, and calibrating the front image, bythe at least one processor, based on the balance.
 5. The method of claim4, wherein the at least one camera comprises: a first camera configuredto obtain the front image; and a second camera configured to obtain awide-angle image in comparison with the first camera, whereincalibrating the front image comprises: determining, by the at least oneprocessor, whether to use the wide-angle image, based on the balance. 6.The method of claim 3, further comprising overlaying a first AR graphicobject on a point of the front image corresponding to a first objectdetected from the front image, wherein the at least one cameracomprises: a first camera configured to obtain the front image; and asecond camera configured to obtain a wide-angle image in comparison withthe first camera, wherein calibrating the front image comprisesdetermining, by the processor, whether to use the wide-angle image,based on a location of the first AR graphic object in the front image.7. The method of claim 1, further comprising; generating first sensingdata, by a gyroscope sensor; and generating second sensing data, by anacceleration sensor, wherein calibrating the front image comprisesdetermining a holding tilt based on the first sensing data and thesecond sensing data, by the processor; and compensating the holding tilton the navigation screen, by the processor.
 8. The method of claim 1,further comprising: receiving at least one of a home button input signaland other application execution input signal, by the processor;deactivating the camera, by the processor; and driving an augmentedreality navigation application in a background, by the processor.
 9. Themethod of claim 1, further comprising: obtaining vehicle stop stateinformation, by the processor; deactivating the camera, by theprocessor; and driving an augmented reality navigation application todisplay a navigation screen excluding the front image and the AR graphicobject, by the processor.
 10. The method of claim 9, further comprising:obtaining vehicle moving state information after a vehicle stop state,by the processor; activating the camera, by the processor; andcalibrating a front image obtained from the activated camera based oncalibration data prior to deactivation of the camera, by the processor.11. A mobile terminal that provides an augmented reality navigationscreen, the mobile terminal comprising: a display; and at least oneprocessor configured to calibrate a front image, and to configure anaugmented reality navigation screen including at least one augmentedreality (AR) graphic object and the calibrated front image, wherein theaugmented reality navigation screen includes an AR camera surface and anAR GUI surface, wherein the at least one processor is configured to:receive the front image from at least one camera, detect a calibrationfactor data from the front image and store the calibration factor datain a calibration factor database (DB), determine an unnecessary area ofthe front image based on the calibration factor data, and crop, from thefront image, the unnecessary area in which a portion of a vehicle islocated, determine a balance of the front image based on the calibrationfactor data, and calibrate the front image based on the balance of thefront image.
 12. The mobile terminal of claim 11, wherein thecalibration data comprises a first factor including the portion of thevehicle, and a second factor including an object that does not affectthe driving of the vehicle, and wherein the portion of the vehicleincludes at least one of a bonnet, a roof, an A-pillar, a dashboard, ora holder.
 13. The mobile terminal of claim 11, wherein the calibrationDB is configured to store data on vanishing line, bonnet line and centerline, wherein the processor is configured to: detect an object based onthe front image obtained by the at least one camera, crop the frontimage based on data stored in the calibration DB, recognize a lane basedon information on the detected object, and display a 3D carpet on the ARcamera surface, based on the lane recognition data and the croppedimage.
 14. The mobile terminal of claim 11, wherein the processor isconfigured to: determine a balance of top, bottom, left and right of thefront image, based on at least one of a horizontal line passing througha vanishing point detectable in the front image or a vertical linepassing through the vanishing point, and calibrate the front image basedon the balance.
 15. The mobile terminal of claim 14, wherein the atleast one camera comprises: a first camera configured to obtain thefront image; and a second camera configured to obtain a wide-angle imagein comparison with the first camera, wherein the processor is configuredto determine whether to use the wide-angle image, based on the balance.16. The mobile terminal of claim 11, wherein the at least one cameracomprises: a first camera configured to obtain the front image; and asecond camera configured to obtain a wide-angle image in comparison withthe first camera, wherein the processor is configured to overlay a firstAR graphic object on a point of the front image corresponding to a firstobject detected from the front image, and determine whether to use thewide-angle image, based on a location of the first AR graphic object inthe front image.
 17. The mobile terminal of claim 11, furthercomprising; a gyroscope sensor configured to generate first sensingdata; and an acceleration sensor configured to generate second sensingdata, wherein the mobile terminal is configured to determine a holdingtilt value, based on the first sensing data and the second sensing data,and compensate the holding tilt value on the navigation screen.
 18. Themobile terminal of claim 11, wherein, when receiving at least one of ahome button input signal and other application execution input signal,the processor is configured to deactivate the camera and drive anaugmented reality navigation application in a background.
 19. The mobileterminal of claim 11, wherein, when obtaining vehicle stop stateinformation, the processor is configured to deactivate the camera anddrive an augmented reality navigation application to display anavigation screen excluding the front image and the AR graphic object.20. The mobile terminal of claim 19, wherein, when obtaining vehiclemoving state information after a vehicle stop state, the processor isconfigured to activate the camera and calibrate a front image obtainedfrom the activated camera based on calibration data prior todeactivation of the camera.